// --------------------------------------------------------------------------------------------------------------------
// <copyright file="DifferentialDriveStateUpdateTest.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
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namespace Microsoft.Robotics.Navigation.Runtime.UnitTests
{
    using System;
    using System.IO;
    using Microsoft.Robotics.Hardware.DAC;
    using Microsoft.Robotics.Navigation.Motion;
    using Microsoft.Robotics.Numerics;
    using Microsoft.VisualStudio.TestTools.UnitTesting;

    /// <summary>
    /// Validates differential drive state update functionality
    /// </summary>
    [TestClass]
    public class DifferentialDriveStateUpdateTest
    {
        /// <summary>
        /// Wheel base in meters.
        /// </summary>
        private const double WheelBaseInMeters = 0.31;

        /// <summary>
        /// Test differential drive state updates by driving it 3 meters straight in 1 meter increments.
        /// </summary>
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        public void DifferentialDriveStateTestDriveThreeMetersStraight()
        {   
            DifferentialDriveState newDDSState = new DifferentialDriveState();            
            newDDSState.WheelBaseInMeters = WheelBaseInMeters;

            DifferentialDriveStateUpdate driveUpdater = new DifferentialDriveStateUpdate(new DifferentialWheelCalibration(1, 1), new OdometryNoiseModelParams());
            DriveFeedbackState lastDFSState = null;

            Pose2D previousPoseDFS = new Pose2D();

            double driveDistanceIncrement = 1;
            for (int i = 0; i < 3; ++i)
            {
                newDDSState.LeftWheelPositionInMeters += driveDistanceIncrement;
                newDDSState.RightWheelPositionInMeters += driveDistanceIncrement;
                newDDSState.TimestampInMilliseconds = i * 10;
                newDDSState.TimestampInTicks = i;

                DriveFeedbackState updatedState = driveUpdater.UpdateDriveFeedback(newDDSState);
          
                // Now check the state updates
                if (null != lastDFSState)
                {                    
                    Pose2D updatedDFSPose = updatedState.GetUpdatedPose(previousPoseDFS, lastDFSState);
                    Assert.IsTrue(updatedDFSPose.Heading - previousPoseDFS.Heading == 0);
                    Assert.IsTrue(updatedDFSPose.X - previousPoseDFS.X == driveDistanceIncrement);
                    Assert.IsTrue(updatedDFSPose.Y - previousPoseDFS.Y == 0);
                    previousPoseDFS = updatedDFSPose;
                }
            }
        }

        /// <summary>
        /// Test differential drive state updates by rotating in place 0, 90, 180, 270 and 360 degrees.
        /// </summary>
        [Priority(0)]
        [TestMethod]
        [TestCategory("Unit")]
        public void DifferentialDriveStateTestRotateInPlace()
        {
            DifferentialDriveState newDDSState = new DifferentialDriveState();
            newDDSState.WheelBaseInMeters = WheelBaseInMeters;

            DifferentialDriveStateUpdate driveUpdater = new DifferentialDriveStateUpdate(new DifferentialWheelCalibration(1, 1), new OdometryNoiseModelParams());
            DriveFeedbackState lastDFSState = null;

            Pose2D previousPoseDFS = new Pose2D();
            
            for (int i = 0; i < 4; ++i)
            {
                // Drive 1 meter
                newDDSState.LeftWheelPositionInMeters += WheelBaseInMeters / 4 * i;
                newDDSState.RightWheelPositionInMeters -= WheelBaseInMeters / 4 * i;
                newDDSState.TimestampInMilliseconds = i * 10;
                newDDSState.TimestampInTicks = i;

                DriveFeedbackState updatedState = driveUpdater.UpdateDriveFeedback(newDDSState);

                // Now check the state updates
                if (null != lastDFSState)
                {                    
                    Pose2D updatedDFSPose = updatedState.GetUpdatedPose(previousPoseDFS, lastDFSState);
                    Assert.IsTrue(updatedDFSPose.Heading - previousPoseDFS.Heading == i * MathConstants.Degrees2Radians * 90);
                    Assert.IsTrue(updatedDFSPose.X - previousPoseDFS.X == 0);
                    Assert.IsTrue(updatedDFSPose.Y - previousPoseDFS.Y == 0);
                    previousPoseDFS = updatedDFSPose;
                }
            }
        }
    }
}
